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You should be interested in steam bindings, there you will probably find a schematic for psvr2 controllers, if not create your own. All this steam bindings is very unintuitive.
The errors you are talking about in vr result from poor calibration of the vr area. Or from a bad calibration of the height of the glasses.
When it comes to swimming, it's not arcade. The depth of dipping of the paddle and its angle are very important. (But maybe it's a problem with the height calibration of the VR headset ??)
Yes, there is a menu with the game settings. You can try different options.
If you have built vr legs (you write that you had ps vr for a few years) you should not have nausea. If you have no problems in other vr games in which you run or fly, here you should feel good.
Ps vr2 has a very high resolution, do you have a powerful enough graphics card?
You can also check out the game options, and previous topics here, on some hardware configurations you had to disable one of the settings, this has been described here several times. (Maybe it was fsr or something similar).
edit: There are also gameplay settings that help when you don't have VR legs.
The game should work very well. You shouldn't have any problems. And swimming should be fast (after getting practice).
edit:
Check the global settings of the vr headset in steam vr, people say that it should be set to 68% resolution,
grzegorz77 already touched on a few points but I'd love to hear if any of the accessibility settings that can help combat motion sickness help for you. The fact that resetting isn't working for you the way it should is a bit puzzling, have you tried opening the menu and calibrating / resetting position through there? (They're separate settings). You can alternatively hold square to reset position. And finally its definitely possible to build up good speed by kayaking in the game, unrealistically so in fact. We don't have a simulation mode anymore so its just the arcade mode now. Making deep strokes in the water and having a clean exit of the paddle from the water are two of the biggest points to look out for, because you don't feel water resistance it might not be as intuitive as it is in real life.